Geographic Information System based Estimation

and Correction Algorithm for Outdoor Location

Yi Zhang1,2, Lin Ma1,2, Shuai Han1,2, and Weixiao Meng1,2
1
Communication Research Center, Harbin Institute of Technology, Harbin, China
2
Key Laboratory of Police Wireless Digital Communication, China Ministry of Public Security, Harbin, China
zhycz0504@163.com, malin@hit.edu.cn, hanshuai@hit.edu.cn, wxmeng@hit.edu.cn
Abstract—Nowadays, with the development of navigation and However, the above studies about map matching and
location, many kinds of outdoor locating methods are surveyed and accuracy improvement need some assistant information,
used, such as Global Position System (GPS) and LTE fingerprint-
such as, magnetic landmark. These conditions decrease the
based positioning system. However, as the most compelling focus,
the localization accuracies of these systems are limited by the feasibility of the algorithms. Other algorithms are complex.
location systems themselves. Therefore, in order to improve the Besides, these algorithms performed under GPS
localization accuracy, we should use some additional information, environment. GPS signals are robust and well continuous.
for example, Geographic Information System map information. In In this paper, our goal is to design an algorithm to
this paper, we propose an outdoor navigation location estimation
and correction algorithm based on Geographic Information System
complete the location correction in a lower-complexity way.
map information. We implement the algorithm from offline phase What’s more, we require the algorithm not only can be used
and online phase. We make a judgment of indoor or outdoor for the in the steady GPS environment, but also can be completed in
original results of the localization system. Besides, for the users the complex environment, such as the fingerprint
who are outdoors, we make a correction to the locating points based localization environment [10]. Fingerprint localization
on road network information from the shortest distance, time,
moving states, width of the road and other aspects. We implement results are easily influenced by outside interference [11], and
the proposed method in some urban areas and evaluate their the results have the characteristics of the strong
performances. The experiment results show that the proposed repeatability, discreteness, not obvious track. Besides, the
algorithm can improve the localization accuracy effectively and localization accuracy is strongly associated with the density
make the localization results more reasonable. Index Terms— of the fingerprint library.
Geographic Information System, Map matching,
Location correction, Accuracy Specifically, our contributions in this work can be
summarized as follows:

I. INTRODUCTION 1) We present a lower-complexity algorithm to achieve

As we know, location and navigation play the significant
roles in our life all the time. Nowadays, with the
development of location-based services [1], location and
navigation become more and more important, and a variety
of navigation systems are applied in many kinds of
equipments, such as cellphones and cars [2]. Therefore,
much research about location and navigation emerges at the
right moment [3]. At the same time, with the development of
the Geographic Information System, so many problems
about position can be solved easily and better [4-5]. So, we
attempt to combine Geographic Information System with
navigation and location system.
In order to complete the location and navigation better, we
should gradually increase the accuracy of localization, and a
variety of algorithms that combine Geographic Information
System map matching and accuracy improvement have been
developed. Reference [6] presents an algorithm of accurate
real-time map matching for challenging environments. In [7]
and [8], road map matching based on magnetic landmark
and weights of roads are proposed, respectively. Reference
[9] proposes a method of online map-matching of noisy and
sparse location data with hidden Markov and route choice
models.
the location correction, including indoor and outdoor
judgement and correction based road network. Our
system can be operated in O(n2) time complexity.
Reference [7] needs magnetic landmark, but we do
not need any assistant information except road
information and the users’ location, in this way, we
also decrease the space complexity.
2) We can not only use this algorithm in stable GPS
environment, but also in the complex fingerprint
localization environment, and the experiment results
indicate the proposed method could effectively
achieve location correction, depicting traveling track
by time and localization accuracy improvement.
The remainder of this paper is organized as follows. In
section II, we will introduce the system model of the
location correction system. The algorithms of correction will
be discussed in section III, which conclude indoor or
outdoor judgement and correction based on road network.
Section IV will provide the implementation and performance
analysis. And conclusion will be described finally.
II. LOCATION CORRECTION SYSTEM
The location correction system model is illustrated in Fig.
1. This system involves offline phase and online phase. In
offline phase, we preprocess maps and export MIF
attributebased information and MID graphic information (1)
files from the database of MapInfo format maps. And we where lng(max) and lng(min) are the maximum and the
extract vertex information for online algorithms. In online minimum of longitude. What’s more, lat(max) and lat(min)
phase, we select suitable information to complete the are the maximum and the minimum of latitude respectively.
correction algorithms. we complete the judgement of indoor Then,
978-1-5386-2062-5/17/$31.00 ©2017 propose
IEEE
a series
or outdoor. When the user is outdoor, we carry on road
of algorithms on location correction. Our algorithm modules
network correction. Finally, update the position. The
are plotted in blue blocks in Fig. 1, i.e., a correction based
correction based on road network module and the indoor
on road network and an indoor and outdoor judgement,
and outdoor judgement module plotted in blue are our
which are introduced about details in section III.
algorithms.
Database:
III. LOCATION CORRECTION ALGORITHM
Export .MIF Extract Vertex Building Vertex
MapInfo(TAB)
File Information Information In this section, we describe the blue modules in Fig. 1
Map delicately. They are the indoor and outdoor judgement
Information
module and the correction based on road network module.
Export .MID Extract Road Road Vertex A. Indoor and Outdoor Judgement Algorithm we use the ray
File Width Information
Offline Phase method to complete indoor and outdoor judgement. This
Online Phase algorithm can be described as follows: Make a ray from the
New Correction based on Outdoor
Road Network
Indoor and Outdoor
Judgement
judged point to the random direction of the polygon. When
Position
Original the number of the intersection points of the ray and the
Position
New Position=Original Indoor polygon are even or zero, the point is outside of the polygon.
Position
If the number of intersection points are odd, the judged point
Fig. 1. Location correction system model. is inside the polygon. A simple description is shown in Fig.
2(a). This method can judge whether the position is in the
polygonal building. There is a detectable miscalculation, as
A. Offline Phase shown in Fig. 2(b).
In this subsection, we preprocess map information and
change graphics information into data information. D
In the subsequent correction, we need the building vertex
E
information, road vertex information, road width F
information, users’ original location information and E
D
corresponding time. These kinds of information can be F
obtained from Geographic Information System. Export the
(a) Ray method. (b) A special case discussion.
available information including MIF attribute-based
information and MID graphic information from the Fig. 2. Indoor and outdoor judgement.
Geographic Information System MapInfo TAB files. The
MIF files contain road width and other attributive In Fig. 2(b), D is in the polygon, but we can get two
information, and the MID files contain roads or buildings intersection points from the ray method. It is a misjudgment.
vertex information. Therefore, we should add a limiting condition that the
intersection point is not the vertex of the polygon.
B. Online Phase
In the online phase, we research on location correction
algorithm based on road network data.
First of all, choose the appropriate map layers and read
them in system, and select suitable small area in the whole
map to use in subsequent calculations. The selection scope is
defined as the range beyond four directions localization
points’ boundary 200 meters (about 0.002 degrees in
longitude and latitude), the region is expressed in
mathematics as:
 Fig. 3. Indoor and outdoor judgement results. longitude

Fig. 4. Correctional results according to the shortest distance method.

Fig. 3(a) uses arbitrary polygon and multiple random
points for feasibility verification of the ray method. The
random quadrilateral is used as the building, and the random 2) Further correction based on driving time
500 points are used as the location points. The indoor and For the same user, after the correction based on shortest
outdoor points are displayed in different shape in Fig. 3(a). distance, time correction is performed. we analyze the
Fig. 3(b) is the result of the test that uses map building data. driving route of this user, and solve the problem of
B. Correction Based on Road Network repeatability.
Part 1: Correct the points deviating from the driving
1) Correct points to the road with the shortest distance direction.
method The true driving paths that come from road test as shown
Step 1: Search some available roads endpoints which are in Fig. 5. The arrows and numbers indicate the direction of
limited in a small area for a single point correction in an area driving and the sequence of time respectively. Because of
that computed from (1). (We get a total of 548 road the complex moving path, the localization error probability
endpoints in testing region.) In this algorithm, we take the on the road intersections is large. We discuss 3237 points in
nearest 14 paths to the corrected point. classification, and regard 5 seconds as a time interval. Then,
Step 2: Calculate the foot points of the corrected point we categorize the points with the slope of the roads, and
which are on the ever segment of the 14 paths in three cases. analyze the cases as follows:
The three cases include the slope is nonexistent, the slope is
zero, and the slope is not zero.
Step 3: If we get multiple foot points in different
segments, we take the nearest foot point as the correct point
after correction based on shortest distance.
Step 4: If none of the 14 segments satisfy the above
conditions, the point is corrected to the endpoint of the
nearest road.
The validated results are shown in Fig. 4. Solid dots in the
figure are the true localization points of the corrected points,
and hollow pentagrams are the localization results of the
fingerprint localization algorithm. Besides, hollow triangles
are the correctional results according to the shortest distance
method. Fig. 5. True driving path.

Case 1: Most of the localization points are in the correct

place, and individual points are not in the correct place. As
shown in Fig. 6(a).
Screening method: According to the slope value of each
road with localization point matching, count the slope values
and times of occurrence in 5 seconds. The maximum
probability of the slope is beyond 40%, and the second
probability is less than 30%.
 Correction method: Regard the road segment that
corresponding to the slope of the maximum probability as
the correct matching road segment.
Make the vertical line from corrected point to the correct
road, and regard the foot point as the correct localization
point. If the foot point is not on the road, correct the point to
the correct position of the nearest time point.
Case 2: There are two main paths as shown in Fig. 6(b).
Screening method: In 5 seconds, the two main scopes are
both accounted for high proportions (30%), and the
difference between them is not obvious. Count the main
slope of the main 5 seconds time frame and two frames of 5
seconds before and after the main time frame respectively.
These time frames have the same slope.
Correction method: This kind of dots appear in the
situation that the user goes straight and passes the
intersection. Regard the main slope as the correct slope, and
find the road segment with this slope. Make the vertical line
from corrected point to the correct road, and regard the foot
point as the correct localization point. If the foot point is not
on the road, correct the point to the correct position of the
nearest time point.
Case 3: The forward route changes, and the localization Fig. 6. Four incorrect cases.
results are wrong, as shown in Fig. 6(c).
Screening method: In 5 seconds, the two main scopes are Screening method: The probability of ever slope in the 5
both accounted for high proportions (30%), and the seconds time frame is less than 30%.
difference between them is not obvious. Count the main Correction method: Expand the time frame and enlarge
slope of the main 5 seconds time frame and two frames of 5 the frame forward and backward 3 seconds respectively.
seconds before and after the main time frame respectively. Then count the main value of the slope, and find out the
The main slope of the first two time-frames is not the same matching road information. Finally, carry out a serial of
as the main slope of the last two frames. corrections as above cases.
Correction method: This situation mostly occurs when the Part 2: Uniform arrangement of the forward points based
users is making a turn. Find the correct two paths, and then on time.
draw the shaded part of the picture. The points that in the Step 1: Divide the time frames. Find the time frames that
shaded area is incorrect. Then, Determine the direction of have the same slope and continuous time. In order to prevent
the turn, and correct the incorrect point to the right position the time difference and the distance difference between the
of the nearest time point. adjacent points is too large, we need to detect the time
Case 4: complex intersections, as shown in Fig. 6(d). difference between the two adjacent points. If the time
interval is more than 10 seconds, regard the second point as
the start point of the next time frame.
Step 2: Determine where the user is going. For each time
frame, extract the longitude and latitude of the first-time
point and the last-time point, and judge the changing trend
of longitude and latitude in this time frame.
Step 3: Uniform speed arrangement of the track in the
forward direction.
Set the longitude and latitude coordinate of the first point
in a time frame is (lngstart,latstart), and the last point is
(lngend,latend).The longitude and latitude of the i-th point can
be expressed as

lngi = lngstart +(i−1)(lngend −lngstart)

(2)
lati = latstart +(i−1)(latend −latstart)
 As shown in Fig. 7, solid dots in the figure are the true
positions of the localization point, and the hollow
pentagrams are the localization results of the fingerprint
localization algorithm. Besides, the hollow triangles are the
correctional results according to the addition of time
uniform arrangement after the shortest distance method, and
we can see that these points are evenly distributing on the
road.
Fig. 7. Time layout and road width correction results.
3) Further correction based on road width
The former two-step road correction algorithm corrects
the user’s position to the middle line of the road, and the
accuracy can be further improved because of the width of
the road.
Assume that all roads are two-way two-lane. Then
according to the right traffic rules, correct localization points
from the center line of the road to the center line of the
moving direction right side lane. Set 10 meters as the
threshold value (the road widths of the experimental area are
approximately 7.5 meters to 30 meters), and correct the
localization points when the road width is bigger than the
threshold value. The mathematical methods are as follows.
Step 1: The equation of the road lines is y = kx+b, where
k =(Y1−Y2)/(X1−X2)
b =Y1−kX1
where (X1,Y1) and (X2,Y2) are the two endpoints of the road
segment.
Step 2: The perpendicular of this path can be expressed as:
y =−x/k+b (5)
where
k =(Y1−Y2)/(X1−X2)
b =Y +X/k
The coordinates of the points need to be corrected by the
road width, which is defined by (X,Y).
Step 3: Then obtain the coordinates of the longitude and
latitude according to the conversional relationship between
latitude, longitude and the spherical distance. The results of
the algorithm are shown in Fig. 7, and the diamonds are the
correct points after the road width correction.
For complexity, our system can be operated in O(n2) time
complexity. Besides, we also decrease the space complexity.
Reference [7] needs magnetic landmark, comparing with it,
we do not need any assistant information except road
information and the users’ location.
IV. IMPLEMENTION AND PERFORMANCE ANALYSIS
A. Experiment Environment
We get map information from MapInfo software [12], we
export MIF attribute-based information and MID graphic
information files from the database of MapInfo format maps,
and complete algorithm in MATLAB.
This experiment intercepts the surrounding area of Harbin
Normal University, Harbin, Heilongjiang Province as the
research object. We extract 1823 users’ locational
movement information from the 2km×3km area shown in
Fig. 8, and choose one user to complete the algorithms’
validation. The original locations come from a LTE
fingerprint-based positioning system.
gy
Fig. 8. Experiment area map.
In order to verify the correction algorithm better, we
select a user with 548 locational points in Xuanhua street.
(3)As shown in Fig. 9.
(4)
(6)
(7)
Fig. 9. Xuanhua street area map.
 We get information of buildings and roads from MIF and
MID files. The formats of the available data are as TABLE I
and TABLE II.
TABLE I. PLINE ORIGINAL FORMAT (ROAD)
Pline4

126.662463 45.761493
126.662147 45.761513
126.661245 45.751529
126.660579 45.761564
TABLE II. REGION ORIGINAL FORMAT (BUILDING)
Region 1

5
126.625335 45.732933
126.625123 45.732949
126.625151 45.733213
126.625363 45.733202
126.625335 45.732933 Fig. 11. Localization accuracy (GIS: Geographic Information System).

B. Performance Evaluation
In Fig. 8, we extract 399 test points and correct these TABLE III. CORRECTION ACCURACY (GIS: GEOGRAPHIC
INFORMATION SYSTEM)
points based on Geographic Information System map
Localization accuracy No GIS GIS GIS and road
information. The correctional results are shown in Fig. 10. A (unit: meter) width
red line in the center of the graph is the path of the range, 10 0.1319 0.186 0.1869
and the quadrangles on each side are the outlines of the 20 0.3513 0.4143 0.4328
buildings. The little black points are the real positions of the 30 0.5641 0.5848 0.5981
collected points. Hexagonal star points are the results of the 40 0.6935 0.7016 0.705
50 0.7581 0.7732 0.7748
fingerprint localization. Indoor points marked by a larger
60 0.8174 0.819 0.8184
circle, and the points that close to the building corrected into
In Fig. 11, the line named no GIS is the CDF of the
the building are displayed with the diamonds. In the
locating results that come from a LTE fingerprint-based
correction based on road information, the star points are the
positioning system. The line marked GIS is the CDF of the
results of the correction based on the shortest distance
correctional points based on the shortest distance method,
matching road algorithm, and the triangles are the results of
and the line marked GIS and road width is the CDF of the
the correction according to the information such as forward
correctional points based on time and width of roads after
direction, time, and road width.
shortest distance correction. The accuracy promotion up to
8% in 20 meters. In our experiments, for high correct
probability points, we not only improve the location
accuracy, but also give indoor and outdoor judgement result
and depict traveling track by time. For lower correct
probability points, we get more improvement in CDF curve.
We can get the right direction in the bad environment. The
correction results are associated to the localization results of
LTE fingerprint-based positioning system.
V. CONCLUSION
In this paper, we propose an algorithm based on
Geographic Information System. The algorithm completes
the verification of indoor and outdoor judgement and
Fig. 10. Indoor and outdoor judgement and road network correction results. localization correction. The simulation results verify the
effectiveness of the algorithm on depicting traveling track
In Xuanhua street area, we have completed the correction by time and localization accuracy improvement. Future
based on the road network for a moving user. The research can be carried out and optimized from several
cumulative distribution function (CDF) curve after aspects.
correcting is shown in Fig. 11, and the detailed description is Firstly, we plan to enhance the data analysis and
shown in TABLE III. classification. Then, we will try to enrich fingerprint library
of the localization algorithm, and improve localization
accuracy.
What’s more, we can implement further discuss and validate
the setting of the time frames, and select a time frame that is
more ideal and matching to the users’ speeds. Finally,
improving the accuracy of the map can also increase the
correctional accuracy.

ACKNOWLEDGMENT
This paper is supported by National Natural Science
Foundation of China (61571162), Science and Technology
Project of Ministry of China Public Security Foundation
(2015GABJC37), and Excellent Discipline Leader
Foundation Project of Harbin (2014RFXXJ002).

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